CN106494392B - 行驶控制装置 - Google Patents

行驶控制装置 Download PDF

Info

Publication number
CN106494392B
CN106494392B CN201610757552.6A CN201610757552A CN106494392B CN 106494392 B CN106494392 B CN 106494392B CN 201610757552 A CN201610757552 A CN 201610757552A CN 106494392 B CN106494392 B CN 106494392B
Authority
CN
China
Prior art keywords
vehicle
restriction site
curvature
leading vehicle
vehicles
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610757552.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN106494392A (zh
Inventor
小林幸男
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of CN106494392A publication Critical patent/CN106494392A/zh
Application granted granted Critical
Publication of CN106494392B publication Critical patent/CN106494392B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
CN201610757552.6A 2015-09-07 2016-08-29 行驶控制装置 Active CN106494392B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015175794A JP6231526B2 (ja) 2015-09-07 2015-09-07 走行制御装置
JP2015-175794 2015-09-07

Publications (2)

Publication Number Publication Date
CN106494392A CN106494392A (zh) 2017-03-15
CN106494392B true CN106494392B (zh) 2019-02-15

Family

ID=58190396

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610757552.6A Active CN106494392B (zh) 2015-09-07 2016-08-29 行驶控制装置

Country Status (3)

Country Link
US (1) US9952599B2 (ja)
JP (1) JP6231526B2 (ja)
CN (1) CN106494392B (ja)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6561704B2 (ja) * 2015-09-09 2019-08-21 株式会社デンソー 運転支援装置、及び運転支援方法
JP6436116B2 (ja) * 2016-03-08 2018-12-12 トヨタ自動車株式会社 運転支援装置
JP6443418B2 (ja) * 2016-10-03 2018-12-26 トヨタ自動車株式会社 車両運転支援装置
JP6617126B2 (ja) * 2017-09-15 2019-12-11 本田技研工業株式会社 走行制御システムおよび車両の制御方法
JP6795792B2 (ja) * 2017-09-28 2020-12-02 トヨタ自動車株式会社 運転支援装置
JP7006146B2 (ja) * 2017-11-06 2022-02-10 いすゞ自動車株式会社 操舵制御装置及び操舵制御方法
DE102017126512A1 (de) * 2017-11-12 2019-05-16 Zf Friedrichshafen Ag Dynamikregelungssystem für ein selbstfahrendes Fahrzeug
JP6963490B2 (ja) * 2017-12-15 2021-11-10 株式会社デンソー 車両制御装置
JP6725568B2 (ja) * 2018-03-13 2020-07-22 本田技研工業株式会社 車両制御装置、車両、車両制御方法およびプログラム
CN109131322A (zh) * 2018-09-20 2019-01-04 北京新能源汽车股份有限公司 一种车辆分类标记方法、控制装置及汽车
JP7071250B2 (ja) * 2018-09-26 2022-05-18 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム
JP7329381B2 (ja) * 2019-07-22 2023-08-18 株式会社ブリヂストン 制御方法、制御装置、制御システムおよびタイヤ試験方法
DE102021132924A1 (de) * 2021-12-14 2023-06-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum betreiben eines fahrzeugs, computerprogramm,steuerungssystem sowie fahrzeug

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH064799A (ja) * 1992-04-20 1994-01-14 Mazda Motor Corp 車両の走行制御装置
JP2007008281A (ja) * 2005-06-29 2007-01-18 Toyota Motor Corp 車両用運転支援装置
CN101186207A (zh) * 2006-11-21 2008-05-28 丰田自动车株式会社 车辆行为控制系统和方法
CN202448980U (zh) * 2012-01-13 2012-09-26 浙江吉利汽车研究院有限公司 一种车辆自动追踪行驶系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006131055A (ja) * 2004-11-04 2006-05-25 Denso Corp 車両走行制御装置
DE102008008172A1 (de) * 2008-02-08 2009-08-13 Daimler Ag Verfahren zur Längs- und Querführungsunterstützung des Fahrers eines Fahrzeugs und Fahrerassistenzsystem zur Durchführung des Verfahrens
JP2010076539A (ja) * 2008-09-25 2010-04-08 Fuji Heavy Ind Ltd 車両逸脱防止装置
JP4780534B2 (ja) 2009-01-23 2011-09-28 トヨタ自動車株式会社 道路区画線検出装置
EP3761223A1 (en) * 2013-12-04 2021-01-06 Mobileye Vision Technologies Ltd. Adjusting lane offset autonomously

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH064799A (ja) * 1992-04-20 1994-01-14 Mazda Motor Corp 車両の走行制御装置
JP2007008281A (ja) * 2005-06-29 2007-01-18 Toyota Motor Corp 車両用運転支援装置
CN101186207A (zh) * 2006-11-21 2008-05-28 丰田自动车株式会社 车辆行为控制系统和方法
CN202448980U (zh) * 2012-01-13 2012-09-26 浙江吉利汽车研究院有限公司 一种车辆自动追踪行驶系统

Also Published As

Publication number Publication date
US20170068248A1 (en) 2017-03-09
JP6231526B2 (ja) 2017-11-15
JP2017052317A (ja) 2017-03-16
US9952599B2 (en) 2018-04-24
CN106494392A (zh) 2017-03-15

Similar Documents

Publication Publication Date Title
CN106494392B (zh) 行驶控制装置
CN105984464B (zh) 车辆控制装置
KR101823756B1 (ko) 오인식 판정 장치
US9187094B2 (en) Device and method for controlling speed of vehicle
CN106080744B (zh) 自动驾驶车辆系统
US11150649B2 (en) Abnormality detection device
US10260889B2 (en) Position estimation device and position estimation method
KR101018620B1 (ko) 대상물 인식 장치
CN112046501B (zh) 自动驾驶装置和方法
US20180141547A1 (en) Vehicle Stop Position Setting Apparatus and Method
US20050278112A1 (en) Process for predicting the course of a lane of a vehicle
US11243080B2 (en) Self-position estimation method and self-position estimation device
CN105988467A (zh) 自动驾驶装置
CN105938365A (zh) 车辆控制装置
CN104554261A (zh) 驾驶辅助装置
US20160082959A1 (en) Automatic driving controlling system and method
JP2017146724A (ja) 地図情報出力装置
JP6941178B2 (ja) 自動運転制御装置及び方法
JP2005258941A (ja) 障害物検出装置
WO2020158598A1 (ja) 道路認識装置
CN111959482A (zh) 自主驾驶装置及方法
JP7056379B2 (ja) 車両用走行制御装置
US11156466B2 (en) Lane determination device
CN113613487B (zh) 用于控制农用车辆的方法和控制系统
US20230257008A1 (en) Forward monitoring device and forward monitoring method

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant